The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the fie... more The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.
The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the fie... more The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility. We have developed a computer model of one concept robot, the "T1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's off-road mobility. The T1 is a lightweight robot with an innovative running-gear and control strategy to enhance mobility characteristics. We built the dynamic model of T1 in ADAMS/Car and the control system in MATLAB/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T1 ODV. It also discusses effective linking of ADAMS and MATLAB for control system development. Finally, this paper includes a section describing the extension of the T1 templates to other similar ODV concepts for rapid development.
The labor-intensive nature of the construction industry requires workers to frequently perform ph... more The labor-intensive nature of the construction industry requires workers to frequently perform physically demanding manual work, thereby exposing them to the risk of musculoskeletal injury (approximately 31.2 cases per 10,000 full-time equivalent workers). Exoskeletons and exosuits (collectively called EXOs here) are designed to protect workers from these injuries by reducing exertion and muscle fatigue during work. However, the usability of EXOs in construction is still not clear. This is because extant EXO assessments in construction were mainly conducted in laboratory environments with test participants who are not construction professionals. In this research, we conducted a pilot study to investigate the usability of EXOs in a real construction workplace. Four experienced workers were recruited to push/empty construction gondolas with and without a Back-Support EXO, HeroWear Apex. Three workers were recruited to install/remove wooden blocks between steel studs with and without t...
The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the fie... more The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.
The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the fie... more The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility. We have developed a computer model of one concept robot, the "T1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's off-road mobility. The T1 is a lightweight robot with an innovative running-gear and control strategy to enhance mobility characteristics. We built the dynamic model of T1 in ADAMS/Car and the control system in MATLAB/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T1 ODV. It also discusses effective linking of ADAMS and MATLAB for control system development. Finally, this paper includes a section describing the extension of the T1 templates to other similar ODV concepts for rapid development.
The labor-intensive nature of the construction industry requires workers to frequently perform ph... more The labor-intensive nature of the construction industry requires workers to frequently perform physically demanding manual work, thereby exposing them to the risk of musculoskeletal injury (approximately 31.2 cases per 10,000 full-time equivalent workers). Exoskeletons and exosuits (collectively called EXOs here) are designed to protect workers from these injuries by reducing exertion and muscle fatigue during work. However, the usability of EXOs in construction is still not clear. This is because extant EXO assessments in construction were mainly conducted in laboratory environments with test participants who are not construction professionals. In this research, we conducted a pilot study to investigate the usability of EXOs in a real construction workplace. Four experienced workers were recruited to push/empty construction gondolas with and without a Back-Support EXO, HeroWear Apex. Three workers were recruited to install/remove wooden blocks between steel studs with and without t...
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Papers by Peter Adamczyk